All of us have the right to feel anyway we want to feel. Feekings show us something is wrong (or right). Then we know we have to fond out how to fix whatever it is.
For myself, I've learned the reason a someone else is doing or not doing whatever I'm upset about, is at least part of the problem is mine. In counseling, I learned the difference between aggression and being assertive. Agrees I've is when we tell the other person off. Assertive is when we use I statements to say what we need. We follow it up with acknowledging that the other person has feelings too. Be partners in finding a solution satisfactory for both people. We have to let go of our anger. We have to open ourselves up in letting the other person know how we feel and why. Start with something like, "I miss doing things with you. I am hurt when you won't go to the beach with me and the kids, and later went to the beach with friends."
The way we ask for something influences what happens next. Anger always makes the other person defensive and gets in the way.of productive communucation. I suggest you read about Nonviolent Communication. There are books and Web sites.
You and your husband have developed a pattern over the past 8 years. Turning this around will be difficult. I suggest going to counseling, either alone or with him.
You've probably not had date nights or been together with kids without having fun. You make plans for dinner alone with him, without the kids. Tell him the day and time. Discuss why this is important to you and him. Suggest you want to spend time together so your relationship will be happier. Again, don't accuse him. Make all statements about yourself and how you feel.
You be the one that gives him a hug. Touch him while you are together. If one of your husband's activities seem a bit interesting to you, talk about, find ways to be involved.
Stop inviting him to activities. Plan them with him or at the least talk about them when he's around. Give him some choices as you talk.
This will not instantly help. Remember, 8 years to get here. I suggest the most helpful thing to do is starting counseling, first for yourself so you can work out your feelings, learn helpful ways to think and act.
Of course, your husband may not be willing to work together. We don't know you or your husband so we can only give suggestions.
When he says you're too sensitive, don't defend your feelings. Say, "never or less, this is a problem that we need to change. Never argue with him. Walk away when he isn't able or willing to talk. You need support. A counselor will be supportive.